処理中

しばらくお待ちください...

設定

設定

1. WO2007100000 - 障害物検出方法、障害物検出装置及び標準移動体モデル

公開番号 WO/2007/100000
公開日 07.09.2007
国際出願番号 PCT/JP2007/053761
国際出願日 28.02.2007
IPC
G08G 1/16 2006.01
G物理学
08信号
G交通制御システム
1道路上の車両に対する交通制御システム
16衝突防止システム
B60R 21/00 2006.01
B処理操作;運輸
60車両一般
R他に分類されない車両,車両付属具,または車両部品
21事故又は他の交通危機の場合乗員又は歩行者を負傷から保護又は防止するための車両の装置又は部品
CPC
B60W 40/02
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
G01S 13/931
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 2013/932
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
932using own vehicle data, e.g. ground speed, steering wheel direction
G01S 2013/93271
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
9327Sensor installation details
93271in the front of the vehicles
G01S 2013/9329
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
9329cooperating with reflectors or transponders
G08G 1/166
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
166for active traffic, e.g. moving vehicles, pedestrians, bikes
出願人
  • トヨタ自動車株式会社 TOYOTA JIDOSHA KABUSHIKI KAISHA [JP/JP]; 〒4718571 愛知県豊田市トヨタ町1番地 Aichi 1, Toyota-cho, Toyota-shi, Aichi 4718571, JP (AllExceptUS)
  • 麻生 和昭 ASO, Kazuaki [JP/JP]; JP (UsOnly)
  • 金道 敏樹 KINDO, Toshiki [JP/JP]; JP (UsOnly)
発明者
  • 麻生 和昭 ASO, Kazuaki; JP
  • 金道 敏樹 KINDO, Toshiki; JP
代理人
  • 酒井 宏明 SAKAI, Hiroaki; 〒1006019 東京都千代田区霞が関三丁目2番5号 霞が関ビルディング 酒井国際特許事務所 Tokyo Sakai International Patent Office Kasumigaseki Building 2-5, Kasumigaseki 3-chome Chiyoda-ku, Tokyo 100-6019, JP
優先権情報
2006-05544001.03.2006JP
公開言語 (言語コード) 日本語 (JA)
出願言語 (言語コード) 日本語 (JA)
指定国 (国コード)
発明の名称
(EN) OBSTACLE DETECTION METHOD, OBSTACLE DETECTION DEVICE, AND STANDARD MOBILE BODY MODEL
(FR) PROCEDE DE DETECTION D'OBSTACLE, DISPOSITIF DE DETECTION D'OBSTACLE ET MODELE DE CARROSSERIE MOBILE STANDARD
(JA) 障害物検出方法、障害物検出装置及び標準移動体モデル
要約
(EN)
An obstacle detection method, an obstacle detection device, and a standard mobile body mode, where, even if there is a shielded portion where a vehicle mounted sensor cannot detect an obstacle, the shielded portion can be appropriately processed. Even if areas (41L, 42), where a vehicle (43) is movable, includes a shielded area (47) where a sensor mounted on the vehicle (43) cannot detect an object, a possibility of presence of an obstacle in the area is assumed. In a situation where the obstacle can be present in the area, unconfirmed objects (46f-46h) are arranged in the shielded area (47) as obstacle candidates. This enables environmental prediction to be performed by using the unconfirmed objects (46f-46h) as the obstacle candidates, realizing safe automated driving etc.
(FR)
La présente invention concerne un procédé de détection d'obstacle, un dispositif de détection d'obstacle et un modèle de carrosserie mobile standard, grâce auxquels, même s'il existe une portion blindée au niveau de laquelle un capteur embarqué ne peut pas détecter un obstacle, il est possible de traiter de façon appropriée la portion blindée. Même si des zones (41L, 42) où un véhicule (43) peut se déplacer comprennent une zone blindée (47) où un capteur embarqué sur le véhicule (43) ne peut pas détecter un objet, la possibilité de la présence d'un obstacle dans la zone est présumée. Dans une situation où l'obstacle peut être présent dans la zone, les objets non confirmés (46f-46h) sont considérés dans la zone blindée (47) comme d'éventuels obstacles. Ainsi, en utilisant les objets non confirmés (46f-46h) comme d'éventuels obstacles, il est possible de réaliser la prévision de l'environnement et d'obtenir ainsi une conduite automatique de prudence, etc.
(JA)
 搭載センサによる障害物の検出が不可な遮蔽箇所があっても、該遮蔽箇所に対する対応を適正に行えるようにすることを課題とし、自車両43の移動可能領域41L,42中で自車両43に搭載されたセンサで検出不可な遮蔽領域47があっても、遮蔽領域47には障害物が存在するかもしれないと想定し、障害物が存在し得る状況においては該遮蔽領域47に対して未確認物体46f~46hを障害物候補として仮想的に配置することで、未確認物体46f~46hによる障害物候補を用いて環境予測を行うことが可能となり、安全な自動運転化等の実現に役立てることができるようにした。
国際事務局に記録されている最新の書誌情報